# US 11,992,947 B2 · Method of controlling the force of a pneumatic actuating device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,992,947 B2 - Document ID: US11992947B2 - Status: Granted - Kind: B2 - Application number: 17/772,774 - Filed: 2020-10-30 - Published: 2022-12-15 - Granted: 2024-05-28 - Earliest claimed: 2019-10-31 - Assignees: Ufi Filters S.P.A. - Applicants: Camozzi Automation S.P.A. - Inventors: Rocco Antonio Romeo; Daniele Pucci; Luca Fiorio; Marco Rossi - Web page: https://patentgrep.com/patent/US11992947B2 ## CPC - B25J 9/1653: {parameters identification, estimation, stiffness, accuracy, error analysis} - G05D 15/01: characterised by the use of electric means - B25J 9/1612: {characterised by the hand, wrist, grip control} - B25J 9/163: {learning, adaptive, model based, rule based expert control} - B25J 9/1633: {compliant, force, torque control, e.g. combined with position control} - B25J 15/0206: {comprising articulated grippers} - F15B 11/028: for controlling the actuating force (F15B11/024 takes precedence) - F15B 11/10: in which the servomotor position is a function of the pressure {; Pressure regulators as operating means therefor} - F15B 21/087: {Control strategy, e.g. with block diagram} - F15B 2211/3057: having two valves, one for each port of a double-acting output member - F15B 2211/50554: the pressure control means controlling a pressure downstream of the pressure control means, e.g. pressure reducing valve - F15B 2211/513: the positions being continuously variable, e.g. as realised by proportional valves - F15B 2211/526: electrically or electronically - F15B 2211/6313: the pressure being a load pressure - F15B 2211/6336: representing a state of the output member, e.g. position, speed or acceleration - F15B 2211/6656: Closed loop control, i.e. control using feedback - F15B 2211/76: Control of force or torque of the output member - F15B 2211/8855: Compressible fluids, e.g. specific to pneumatics - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - F15B: SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR ## Abstract A method is for controlling an actuation force exerted by an actuating device having a first working chamber and a second working chamber supplied with pressurized air from a source of pressurized air by a first pressure regulator and a second pressure regulator. The method includes calculating, by an optimization algorithm based on a dynamic model of the actuating device and of the first and second pressure regulators, desired values for control signals for the first and second pressure regulators to generate an actuation force equal to a desired value for the actuation force. An estimated value for the actuation force, estimated values for pressures inside the first and second working chambers and for first derivatives of the pressures, are determined by a state observer based on a measured value for the actuation force and on measured values for the pressures in the first and second working chambers. ## Claims ### Claim 1 A method for controlling an actuation force exerted by a pneumatic actuating device, wherein the pneumatic actuating device comprises a first working chamber and a second working chamber configured to be supplied with pressurized air by a source of pressurized air through a first pressure adjuster and a second pressure adjuster, respectively, and wherein said first pressure adjuster and second pressure adjuster are configured to adjust pressure of air inside the first and second working chambers, respectively, depending on a control signal, the method comprising iterative real-time implementation of steps of: a) calculating, by an optimization algorithm based on a dynamic model of the pneumatic actuating device and of said first and second pressure adjusters, desired values for control signals for said first and second pressure adjusters to generate, by the pneumatic actuating device, an actuation force equal to a desired value for the actuation force, calculation being carried out by a closed-loop proportional-integral-derivative controller based on the desired value for the actuation force, on an estimated value for the actuation force and on estimated values for pressures in said first and second working chambers and for first derivatives of said pressures, and b) establishing, by a state observer, the estimated value for the actuation force, the estimated values for the pressures in said first and second working chambers and for the first derivatives of said pressures, based on a measured value for the actuation force and on measured values for the pressures in said first and second working chambers. ### Claim 2 (depends on 1) The method of claim 1, wherein, in step b) the estimated value for the actuation force, the estimated values for the pressures in said first and second working chambers and for the first derivatives of said pressures, are established by also taking into account the desired values for the control signals calculated in step a). ### Claim 3 (depends on 1) The method of claim 1, wherein the desired values for the control signals for said first and second pressure adjusters calculated in step a) are established to minimize the norm of vector of the control signals for said first and second pressure adjusters. ### Claim 4 (depends on 1) A pneumatic actuating system, comprising: a pneumatic actuating device configured to apply an actuation force, the pneumatic actuating device comprising at least one movable actuating member a first working chamber and a second working chamber configured to be supplied with pressurized air to control movement of said at least one movable actuating member, a source of pressurized air, a first pressure adjuster interposed between said source of pressurized air and said first working chamber to supply said first working chamber with pressurized air at a given adjustable pressure, a second pressure adjuster interposed between said source of pressurized air and said second working chamber to supply said second working chamber with pressurized air at a given adjustable pressure, pressure sensors configured to provide signals indicative of the actuation force exerted by the pneumatic actuating device by said at least one movable actuating member, and signals indicative of pressures in said first and second working chambers, and an electronic control unit configured to control said first and second pressure adjusters by performing the method of claim 1.